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<h1>trnorm</h1><p><span class="helptopic">Normalize a homogeneous transform</span></p><p>
<strong>tn</strong> = <span style="color:red">trnorm</span>(<strong>T</strong>) is a normalized homogeneous transformation matrix in which
the rotation submatrix R = [N,O,A] is guaranteed to be a proper orthogonal
matrix. The O and A vectors are normalized and the normal vector is formed from
N = O x A, and then we ensure that O and A are orthogonal by O = A x N.

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<h2>Notes</h2>
<ul>
  <li>Used to prevent finite word length arithmetic causing transforms to
become `unnormalized'.</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc oa2tr">oa2tr</a></p>
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